Partial Shaking Moment Balancing of Spherical Parallel Robots by a Combined Counterweight and Adjusting Kinematic Parameters Approach
Spherical parallel robots (SPR) are widely used in industries and robotic rehabilitation. Designing such systems for better balance properties is still a challenge. This paper presents a work to minimize the shaking moment for a fully force-balanced SPR by combining the counterweight (CW) and adjust...
Main Authors: | , , , , |
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Format: | Article |
Language: | English |
Published: |
MDPI
2022
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Subjects: | |
Online Access: | View Fulltext in Publisher |